Build: set use_esd_can to False for arm64

apollo.sh

@@ -26,7 +26,7 @@ function check_architecture_support() {
 
 function check_platform_support() {
     local platform="$(uname -s)"
-    if [ "$platform" != "Linux" ]; then
+    if [[ "${platform}" != "Linux" ]]; then
         error "Unsupported platform: ${platform}."
         error "${TAB}Apollo is expected to run on Linux systems (E.g., Debian/Ubuntu)."
         exit 1
@@ -45,8 +45,9 @@ function check_minimal_memory_requirement() {
 function determine_esdcan_use() {
     local esdcan_dir="${APOLLO_ROOT_DIR}/third_party/can_card_library/esd_can"
     local use_esd=false
-    if [ -f "${esdcan_dir}/include/ntcan.h" ] &&
-        [ -f "${esdcan_dir}/lib/libntcan.so.4" ]; then
+    if [[ "${ARCH}" == "x86_64" ]] &&
+        [[ -f "${esdcan_dir}/include/ntcan.h" ]] &&
+        [[ -f "${esdcan_dir}/lib/libntcan.so.4" ]]; then
         use_esd=true
     fi
     USE_ESD_CAN="${use_esd}"
@@ -160,7 +161,8 @@ function main() {
     local coverage_sh="${APOLLO_ROOT_DIR}/scripts/apollo_coverage.sh"
     local ci_sh="${APOLLO_ROOT_DIR}/scripts/apollo_ci.sh"
 
-    local cmd="$1"; shift
+    local cmd="$1"
+    shift
     case "${cmd}" in
         config)
             env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_config.sh" "$@"

modules/drivers/canbus/can_client/esd/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("//tools/platform:build_defs.bzl", "if_esd_can")
 load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
     name = "esd_can_client",
-    srcs = ["esd_can_client.cc"],
-    hdrs = ["esd_can_client.h"],
-    deps = [
+    srcs = if_esd_can(["esd_can_client.cc"]),
+    hdrs = if_esd_can(["esd_can_client.h"]),
+    deps = if_esd_can([
         "//modules/common/proto:error_code_cc_proto",
         "//modules/drivers/canbus:sensor_gflags",
         "//modules/drivers/canbus/can_client",
         "//third_party/can_card_library/esd_can",
-    ],
+    ]),
 )
 
 cc_test(
     name = "esd_can_client_test",
     size = "small",
-    srcs = ["esd_can_client_test.cc"],
-    deps = [
+    srcs = if_esd_can(["esd_can_client_test.cc"]),
+    deps = if_esd_can([
+        ":esd_can_client",
         "//cyber",
-        "//modules/drivers/canbus/can_client/esd:esd_can_client",
         "//modules/drivers/canbus/common:canbus_common",
+    ]) + [
         "@com_google_googletest//:gtest_main",
     ],
 )

third_party/can_card_library/esd_can/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library")
-
+load("//tools/platform:build_defs.bzl", "if_esd_can")
 package(default_visibility = ["//visibility:public"])
 
 licenses(["notice"])
 
 cc_library(
     name = "esd_can",
-    srcs = [
-        "lib/libntcan.so.4",
-    ],
-    hdrs = [
-        "include/ntcan.h",
-    ],
+    srcs = if_esd_can(["lib/libntcan.so.4"]),
+    hdrs = if_esd_can(["include/ntcan.h"]),
     include_prefix = "esd_can",
 )

tools/platform/build_defs.bzl

@@ -32,3 +32,9 @@ def if_aarch64_mode(if_true, if_false = []):
         "//tools/platform:aarch64_mode": if_true,
         "//conditions:default": if_false,
     })
+
+def if_esd_can(if_true, if_false = []):
+    return select({
+        "//tools/platform:use_esd_can": if_true,
+        "//conditions:default": if_false,
+    })